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volta_simulation package from volta_simulation repo

volta_simulation

Package Summary

Tags No category tags.
Version 1.0.1
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/botsync/volta_simulation.git
VCS Type git
VCS Version kinetic-devel
Last Updated 2021-03-22
Dev Status MAINTAINED
CI status Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

The volta_simulation package

Additional Links

No additional links.

Maintainers

  • Nikhil Venkatesh
  • Toship

Authors

  • Nikhil Venkatesh
  • Mahendra L Seervi

Volta

ROS packages used to run the Volta in simulation

  • volta_simulation - Gazebo simulation world file.

Steps to Launch Volta:

1. Launching a Gazebo Simulation environment

  • Before launching the simulation, setup the model path by running the following:
$ echo "export GAZEBO_MODEL_PATH=~/volta_ws/src/:$GAZEBO_MODEL_PATH">>~/.bashrc

  • To bring up our default gazebo world, launch the gazebo node by running:
$ roslaunch volta_simulation gazebo.launch indoor:=true

  • Once the gazebo simulation environment is launched, run the following to spawn the Volta robot:
$ roslaunch volta_simulation simulation.launch indoor:=true

  • For visualization, launch rviz by running:
 $ rosrun rviz rviz

The configuration file, volta.rviz which is located under volta_description->rviz_params, can be opened in the rviz tool to load the volta configured rviz environment

  • In order to start the teleoperation node using keyboard, run the following: :
 $ roslaunch volta_teleoperator teleoperator.launch keyboard:=true 

  • To launch the joystick node, set the keyboard argument to False (Default case:= false) or run the following:
 $ roslaunch volta_teleoperator teleoperator.launch  

2. Mapping an environment with Volta

  • Once the gazebo world is launched and the Volta robot is spawned into the simulation environment, the mapping node can be launched by running:
$ roslaunch volta_navigation navigation.launch gmapping:=true  

  • This will launch the gmapping node. On a separate terminal, launch the rviz visualization tool by running:
$ rosrun rviz rviz  

You can then open the volta configured rviz environment by opening the volta rviz config file, located under volta_navigation->rviz_config->navigation.rviz, from the rviz tool

  • In order to control the robot, launch the teleoperation node by running:
$ roslaunch volta_teleoperator teleoperator.launch keyboard:=true 

  • Once the mapping of the entire environment is completed, the map can be saved by running:
$ roslaunch map_server map_saver –f <filename>

3. Navigation with Volta

  • Once the gazebo world is launched and the Volta robot is spawned into the simulation environment, the navigaation node can be launched by running:
$ roslaunch volta_navigation navigation.launch 

  • This will launch the navigation node. On a separate terminal, launch the rviz visualization tool by running:
$ rosrun rviz rviz  

You can then open the volta configured rviz environment by opening the volta rviz config file, located under volta_navigation->rviz_config->navigation.rviz, from the rviz tool

Use the 2D Nav Goal tool in the top toolbar to select a navigation goal in the visualizer. Ensure that the nav goal is given in a mapped section of the map

CHANGELOG

Changelog for package volta_simulation

1.0.1 (2021-03-22)

  • Fixed versions
  • Added gazebo models and updated launch files.
  • Kinetic devel r2 update to Kinetic (#3)
    • Merged volta_development.
    • Changed maintainer name.
  • Contributors: Toship

1.0.0 (2020-11-19)

  • First Release

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

  • launch/gazebo.launch
      • indoor [default: true]
      • indoor_dynamic [default: false]
      • office [default: false]
      • office_full [default: false]
      • world [default: $(find volta_simulation)/worlds/$(arg world_choice).world]
  • launch/simulation.launch
      • indoor [default: false]
      • initX [default: -7]
      • initY [default: -3]
      • initYaw [default: 1.5708]
      • indoor_dynamic [default: false]
      • initX [default: -7]
      • initY [default: -3]
      • initYaw [default: 1.5708]
      • office [default: false]
      • office_full [default: true]
      • model [default: $(find volta_description)/urdf/volta.xacro]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged volta_simulation at Robotics Stack Exchange

volta_simulation package from volta_simulation repo

volta_simulation

Package Summary

Tags No category tags.
Version 1.1.1
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/botsync/volta_simulation.git
VCS Type git
VCS Version melodic-devel
Last Updated 2021-04-21
Dev Status MAINTAINED
CI status Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

The volta_simulation package

Additional Links

No additional links.

Maintainers

  • Nikhil Venkatesh
  • Toship

Authors

  • Nikhil Venkatesh
  • Mahendra L Seervi

Volta

ROS packages used to run the Volta in simulation

  • volta_simulation - Gazebo simulation world file.

Steps to Launch Volta:

1. Launching a Gazebo Simulation environment

  • To bring up a gazebo world, launch the gazebo node by running:
$ roslaunch volta_simulation gazebo.launch 

  • Once the gazebo simulation environment is launched, run the following to spawn the Volta robot:
$ roslaunch volta_simulation simulation.launch 

  • For visualization, launch rviz by running:
 $ rosrun rviz rviz

The configuration file, volta.rviz which is located under volta_description->rviz_params, can be opened in the rviz tool to load the volta configured rviz environment

  • In order to start the teleoperation node using keyboard, run the following: :
 $ roslaunch volta_teleoperator volta_teleoperator.launch keyboard:=true 

  • To launch the joystick node, set the keyboard argument to False (Default case:= false) or run the following:
 $ roslaunch volta_teleoperator volta_teleoperator.launch  

2. Mapping an environment with Volta

  • Once the gazebo world is launched and the Volta robot is spawned into the simulation environment, the mapping node can be launched by running:
$ roslaunch volta_navigation navigation.launch gmapping:=true  

  • This will launch the gmapping node. On a separate terminal, launch the rviz visualization tool by running:
$ rosrun rviz rviz  

You can then open the volta configured rviz environment by opening the volta rviz config file, located under volta_navigation->rviz_config->navigation.rviz, from the rviz tool

  • In order to control the robot, launch the teleoperation node by running:
$ roslaunch volta_teleoperator teleoperator.launch keyboard:=true 

  • Once the mapping of the entire environment is completed, the map can be saved by running:
$ roslaunch map_server map_saver –f <filename>

3. Navigation with Volta

  • Once the gazebo world is launched and the Volta robot is spawned into the simulation environment, the navigaation node can be launched by running:
$ roslaunch volta_navigation navigation.launch 

  • This will launch the navigation node. On a separate terminal, launch the rviz visualization tool by running:
$ rosrun rviz rviz  

You can then open the volta configured rviz environment by opening the volta rviz config file, located under volta_navigation->rviz_config->navigation.rviz, from the rviz tool

Use the 2D Nav Goal tool in the top toolbar to select a navigation goal in the visualizer. Ensure that the nav goal is given in a mapped section of the map

CHANGELOG

Changelog for package volta_simulation

1.1.1 (2021-03-22)

1.1.0 (2020-11-19)

  • First Release

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

  • launch/gazebo.launch
      • indoor [default: false]
      • indoor_dynamic [default: false]
      • office [default: false]
      • office_full [default: true]
      • world [default: $(find volta_simulation)/worlds/$(arg world_choice).world]
  • launch/simulation.launch
      • indoor [default: false]
      • initX [default: -7]
      • initY [default: -3]
      • initYaw [default: 1.5708]
      • indoor_dynamic [default: false]
      • initX [default: -7]
      • initY [default: -3]
      • initYaw [default: 1.5708]
      • office [default: false]
      • office_full [default: true]
      • model [default: $(find volta_description)/urdf/volta.xacro]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged volta_simulation at Robotics Stack Exchange